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Court had to be the last place Usher and his ex-wife, whose 11-year-old son was taken off life support barely three weeks ago, wanted to be.

But that's where they were this week for the latest stage of their ongoing custody battle over sons Usher V, 4, and Naviyd, 3. Usher, who's seeking sole custody, had accused Tameka Foster trying to interfere with the time he was allowed with their kids under their joint custody arrangement—a charge she denied.

The R&B hitmaker's attorney stated during closing arguments Thursday in a Fulton County, Ga., courtroom that Foster was "incapable of being a proper parent" to the boys, saying she "does not have the emotional stability to or capacity to bond with them, and therefore she is handicapped," according to MyFox Atlanta.

Foster's attorney, meanwhile, countered that Usher travels all the time and does not have a good relationship with his mother, whom he had testified was part of the family unit that would help take care of Usher V and Navyid when he was on the road.

On the witness stand Tuesday, Foster—who is looking to retain joint custody and have her monthly support payments be increased from $8,000 to $11,000—testified that she "begged" her ex not to seek sole custody,

"I was like, ‘It's ridiculous, are you mad me? I don't know why. You know your kids are fine. They're happy. They're productive. They read, they spell. They're clean, they're fed.' Maybe I don't do everything perfectly, but I do the best I can," she said.

Usher had also testified in May that Foster spit at his new girlfriend, Grace Miguel, and took a swing at him one time when they showed up at his ex's house to drop the kids off.

"I probably pushed him," Foster testified this week. "I pushed him off because he was trying to, like, kind of move me...I was very upset. I said, ‘You don't bring your mistress'—I probably said a few other words, choice words— ‘Do not bring her to my house.'"

Per MyFox, a psychologist also testified on Usher's behalf that Foster had a "moderately severe mental disorder."

Foster told the court that she was advised to take medication back in 2009 when, she said, she returned from a near-fatal trip to Brazil and found that Usher had moved his things out of their home. She did not feel at the time that meds were necessary, she added.

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